50 lines
1.1 KiB
XML
50 lines
1.1 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.5">
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<world name="default">
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<!-- Physics -->
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<physics type="ode">
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<magnetic_field>1 0 0</magnetic_field>
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</physics>
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<!-- A global light source -->
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<include>
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<uri>model://sun</uri>
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</include>
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<!-- A ground plane -->
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<include>
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<uri>model://ground_plane</uri>
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</include>
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<!-- A model containing a magnetometer sensor -->
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<model name="magnetometerModel">
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<pose>0 0 0.25 0 0 0</pose>
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<static>true</static>
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<link name="link">
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<collision name="collision">
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<geometry>
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<box>
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<size>0.5 0.5 0.5</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.5 0.5 0.5</size>
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</box>
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</geometry>
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</visual>
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<sensor name="magnetometer" type="magnetometer">
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<always_on>1</always_on>
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<update_rate>1</update_rate>
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<magnetometer>
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</magnetometer>
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</sensor>
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</link>
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</model>
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</world>
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</sdf>
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